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In this study, we developed a Human-Facility Interaction (HFI) system to facilitate communication between service robots and passengers in elevator environments. The system provided both verbal (voice announcements) and non-verbal (light signals) information to passengers waiting for an elevator alongside a service robot. We installed the system in a hotel and conducted two experiments involving 31 participants to evaluate its impact on passengers\u2019 impressions of the elevator and the robot. Our findings revealed that voice-based information significantly improved passengers\u2019 impressions and reduced perceived waiting time. However, light-based information had minimal impact on impressions and unexpectedly increased perceived waiting time. These results offer valuable insights for designing future HFI systems to support the integration of service robots in buildings.<\/jats:p>","DOI":"10.3389\/frobt.2025.1681187","type":"journal-article","created":{"date-parts":[[2025,11,3]],"date-time":"2025-11-03T05:21:27Z","timestamp":1762147287000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":1,"title":["Human-facility interaction improving people\u2019s understanding of service robots and elevators - system design and evaluation"],"prefix":"10.3389","volume":"12","author":[{"given":"Mau","family":"Adachi","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masayuki","family":"Kakio","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1965","published-online":{"date-parts":[[2025,11,3]]},"reference":[{"key":"B1","doi-asserted-by":"publisher","first-page":"1599","DOI":"10.25046\/aj0203199","article-title":"A secure automated elevator management system and pressure sensor based floor estimation for indoor Mobile robot transportation","volume":"2","author":"Abdulla","year":"2017","journal-title":"Adv. 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